![Communicating ROS messages between the computer and the OpenCR board
????? ???? OpenCR ???? ROS ??? ??? ???? ???.
OpenCR ??? ???? USB??? ???? ??? ?? ???? IDE? ????.
? ?? ???? [File] > [Sketchbook] > [libraries] > [ros_lib] > [pubsub] ? ????
??? ??? ???? OpenCR ??? ???? ??? ??. ?? 0.5? ???
"hello world!"?? string ??? ???? ????(publish)?? toggle_led ?? ??
??? LED ?? ??? ???????(subscribe)?? ??????.
??? ?? ? ?? ??? ???? ?? ??? ?? ?? ??? ??? ???
?? ??? ??? ???.
$ arduino](https://image.slidesharecdn.com/rosserialandopencr-161219010023/85/ROS-SERIAL-and-OpenCR-17-320.jpg)
![Example of rosserial: pubsub
??? ????? ??????? ?? ????? ???? ROS ?????? ??
???? ????. ?? ?? ?? ? ??? OpenCR ?? ????????
???? ? ???. ??, ??? ??? ?? ????(pubsub)? ????.
#include <ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Empty.h>
ros::NodeHandle nh;
void messageCb( const std_msgs::Empty& toggle_msg) {
digitalWrite(13, HIGH-digitalRead(13)); // blink the led
}
ros::Subscriber<std_msgs::Empty> sub("toggle_led", messageCb );
std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);
char hello[13] = "hello world!";
void setup() {
pinMode(13, OUTPUT);
nh.initNode();
nh.advertise(chatter);
nh.subscribe(sub);
}
void loop() {
str_msg.data = hello;
chatter.publish( &str_msg );
nh.spinOnce();
delay(500);
}](https://image.slidesharecdn.com/rosserialandopencr-161219010023/85/ROS-SERIAL-and-OpenCR-23-320.jpg)
ROS SERIAL and OpenCR
- 1. ROS SERIAL and OpenCR - OpenCR? ROS ??? ???? * ? ??? ??? ?? ????? ? ??? ??? ?? ??? ????? ??? ??????. / CC BY 4.0 ?5? ?? ???? ??? ? ? ?
- 2. Robot Operating System Best tool for your robot!
- 4. What is the Best Computing Resource for Your Robot? intel.com / st.com I¡¯m Robot!
- 6. Intel NUC for Sensor and Communication
- 7. Intel NUC for Sensor and Communication ARM Cortex-M for Motor control and Analog Sensors Small embedded systems are everywhere in ROBOT!
- 8. Scope of computing resources : computation vs control Morgan Quigley (OSRF) "ROS 2 on ¡°small¡± embedded systems", ROSCon2015
- 9. Communication between the computer and the microcontroller ????? ???? ROS ? 8051, AVR, ARM Cortex-M ?? MCU(Micro Controller Unit)?? ??? ??? ?? rosserial ??? ROS? ???? ???? ??. ROS ???? ????? ????? ?????? ???? ??? ??? ???? ???? ????? ???? ???? ??? ?????. ?, ??? ?? ??? ????? ??????? ????? ???? ??? ??? ???? ????? ????? ???. ???? ??? ??? ????? ??? ??? MCU ?? ???? ??? ??? ?? ????? rosserial? ????. ? ?????? ??? ????? ?? ??? ????&ROS ?? ????? ??, pubsub ??? ???? OpenCR ?? ????, ???????? rosserial? ???? ???? ?????? ????? ??? ??? ????? ??.
- 10. Communication between the computer and the microcontroller
- 11. rosserial for embedded system to control the hardware parts of ROBOT! rosserial ? ??? ??? ?? ?? ???? ??? ?? ???? ?????????? ??? ??? ?? ???? ROS? ?????. ? ? ?? (????????????)? ??? ?? ?? ?????? ????????? ?? ??? UART? ?? ??? ???? ???? ??? ?? ROS ?? ???? ROSTCP ?? ?? ??? ??? ??. ? ??? ??? rosserial? rosserial-server? ??????? ???(??? ???? Xbee, ???? ??? ????? ??)? ??? ? ????? ??? ??? ????.
- 12. rosserial for embedded system to control the hardware parts of ROBOT! ????, ????????? ??? ???? ADC? ????? ?? ? ???? ???? ??, ???? rosserial-server ??? ??? ?? ??? ROS?? ???? ??(Topic)?? ???? ???? ??. ???, ROS ? ?? ???? ?? ?? ???? ???? ???? rosserial-server ??? ?? ???? ?????????? ???? ??? ??? ?? ???? ?? ???. SBC? ??? ?? ???? ??, ??? ??? ???? ?? ???? ??? ?? ???? ???? ????????? ???? ?? ???? ????? ??? ? ??? ?? ???? ??.
- 13. OpenCR + ROSSERIAL ?? ????? ???? Ubuntu 16.04 LTS OS? ROS Kinetic ??? ???? ??? ?? ?? OpenCR + rosserial ? ???? ?? ????. F/W? Arduino IDE 1.6.12 ?? ????. http://cafe.naver.com/openrt/15345
- 14. rosserial install ?? ???? rosserial? ???? ?? ?? ???? ????? ??. ? ???? ros-kinetic-rosserial-windows ros-kinetic-rosserial-xbee, ros-kinetic-rosserial-embeddedlinux ?? ??? ?? ??? ???? ????? ??. $ sudo apt-get install ros-kinetic-rosserial ros-kinetic-rosserial-server ros-kinetic-rosserial-arduino
- 15. Build the ros libs for rosserial ???? ???? IDE ?? ????? ?????? ????? ??. ??? ?? ???? IDE? ????? ????? ??? ??? ? ?? ros_lib ? ?? ????(???? ros_lib? ??? ??? ????? ? ?? ??? ????? ??). ? ?, rosserial_arduino ???? make_libraries.py ??? ???? ros_lib? ????. $ cd ~/Arduino/libraries/ $ rm -rf ros_lib $ rosrun rosserial_arduino make_libraries.py .
- 16. Build the ros libs for rosserial make_libraries.py ???? ?? Arduino IDE ?? ROS ?????? ????? ros.h? ?? ?? ?????? ??? ROS ??? ? catkin_ws ? ??? ??? ??? ????? ??? ???? ???? ?? ????. ?? ??? ???? IDE?? ???? ??? ? ??. ??? ?? ~/Arduino/libraries/ros_lib ??? ??? ???? ?????? ??. OpenCR? ??? ??? ?? ???? ??? ?? ??? ??? ?? ??? ??? ??. ~/Arduino/libraries/ros_lib/ArduinoHardware.h ? 59?? ??? ?? ??? ????. (???) #define SERIAL_CLASS HardwareSerial (???) #define SERIAL_CLASS USBSerial
- 17. Communicating ROS messages between the computer and the OpenCR board ????? ???? OpenCR ???? ROS ??? ??? ???? ???. OpenCR ??? ???? USB??? ???? ??? ?? ???? IDE? ????. ? ?? ???? [File] > [Sketchbook] > [libraries] > [ros_lib] > [pubsub] ? ???? ??? ??? ???? OpenCR ??? ???? ??? ??. ?? 0.5? ??? "hello world!"?? string ??? ???? ????(publish)?? toggle_led ?? ?? ??? LED ?? ??? ???????(subscribe)?? ??????. ??? ?? ? ?? ??? ???? ?? ??? ?? ?? ??? ??? ??? ?? ??? ??? ???. $ arduino
- 18. Example of rosserial: pubsub
- 19. Example of rosserial: pubsub ?? ??? ?? roscore? ?? ?, ??? ?? ?????? rosserial_python???? serial_node.py? ????. $ roscore $ rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0
- 20. Example of rosserial: pubsub ??? OpenCR ???? ?????? ?? ???? ?????. ??? ?? rostopic echo ???? "chatter" ?? ??? ???? ?????. 0.5? ??? ???? ?? ??? ??? ? ??. $ rostopic echo /chatter data: hello world! --- data: hello world! --- data: hello world!
- 21. Example of rosserial: pubsub ??? ????? std_msgs/Empty ??? "toggle_led"?? ???? OpenCR ???? led ?? ??? ?????? OpenCR ????? ?? ????????? led ? on/off ??? ??? ??. ??? ???? ??? ?? OpenCR ??? led? ???? ?? ? ? ??. ?? ???? ??? led ? ???? ?? ?? ???? ??? ???. ? ??? ??(toggle) ??? ?? ??. $ rostopic pub -1 /toggle_led std_msgs/Empty "{}" publishing and latching message for 3.0 seconds $ rostopic pub -1 /toggle_led std_msgs/Empty "{}" publishing and latching message for 3.0 seconds
- 22. Example of rosserial: pubsub ? ????? ??????? ??? ??? rqt_graph? ???? ??? ??. $ rqt_graph
- 23. Example of rosserial: pubsub ??? ????? ??????? ?? ????? ???? ROS ?????? ?? ???? ????. ?? ?? ?? ? ??? OpenCR ?? ???????? ???? ? ???. ??, ??? ??? ?? ????(pubsub)? ????. #include <ros.h> #include <std_msgs/String.h> #include <std_msgs/Empty.h> ros::NodeHandle nh; void messageCb( const std_msgs::Empty& toggle_msg) { digitalWrite(13, HIGH-digitalRead(13)); // blink the led } ros::Subscriber<std_msgs::Empty> sub("toggle_led", messageCb ); std_msgs::String str_msg; ros::Publisher chatter("chatter", &str_msg); char hello[13] = "hello world!"; void setup() { pinMode(13, OUTPUT); nh.initNode(); nh.advertise(chatter); nh.subscribe(sub); } void loop() { str_msg.data = hello; chatter.publish( &str_msg ); nh.spinOnce(); delay(500); }
- 24. ros_libs ?? ????(pubsub)???? ADC, Blink, BlinkM, button_example, Clapper, HelloWorld, IrRanger, Logging, Odom, pubsub, ServiceClient, ServiceServer, ServoControl, Temperature, TimeTF, Ultrasound, tests ?? ?? ?? ??.
- 25. Practical examples: IMU on RViz https://youtu.be/wXN_7oRHst0
- 26. Practical examples: TurtleBot3 with OpenCR + rosserial ??? ??? ??? ?? ??
- 27. Practical examples: TurtleBot3 with OpenCR + rosserial https://youtu.be/lkW4-dG2BCY
- 28. Let's get to know more about ROSSERIAL! - Protocol - Limitations - Future
- 29. Protocol of rosserial (http://wiki.ros.org/rosserial/Overview/Protocol) Sync Flag Sync Flag / Protocol version Message Length (N) Message Length (N) Checksum over message length Topic ID Topic ID Serialized Message Data Checksum over Topic ID and Message Data 1st Byte 2nd Byte 3rd Byte 4th Byte 5th Byte 6th Byte 7th Byte N Bytes Byte N+8 (Value: 0xFF) (Value: 0xFE) (Low Byte) (High Byte) (Low Byte) (High Byte) Sync Flag oxFF Sync Flag / Protocol version 0xFF on ROS Groovy, 0xFE on ROS Hydro, Indigo, Jade and Kinetic Message Length (N) Message Length, 2 Byte = Low Byte + High Byte Checksum over message length Checksum = 255 - ( (Message Length Low Byte + Message Length High Byte) %256) Topic ID 2 Byte = Low Byte + High Byte ID_PUBLISHER=0, ID_SUBSCRIBER=1, ID_SERVICE_SERVER=2, ID_SERVICE_CLIENT=4, ID_PARAMETER_REQUEST=6, ID_LOG=7, ID_TIME=10, ID_TX_STOP=11 Serialized Message Data Message Data like IMU, TF, GPIO Checksum over Topic ID and Message Data Checksum = 255 - ( (Topic ID Low Byte + Topic ID High Byte + data byte values) % 256)
- 30. Limitations of rosserial (http://wiki.ros.org/rosserial/Overview/Limitations) 1. Maximum Size of a Message, Maximum Number of Publishers/Subscribers ros::NodeHandle_<HardwareType, MAX_PUBLISHERS=25, MAX_SUBSCRIBERS=25, IN_BUFFER_SIZE=512, OUT_BUFFER_SIZE=512> nh; : ?? ????? ???? ????? ??, ???????? ??, ????, ?? ??? ???? ??? ?? ???? MCU? ???? ??. 2. Float64 : ????? ??? 64-bit float? 32-bit ?????? ????. http://wiki.ros.org/rosserial/Overview/Limitations
- 31. Limitations of rosserial (http://wiki.ros.org/rosserial/Overview/Limitations) 3. Strings : ??? ?? ??? String ??? "char *"? ????. 4. Arrays : ??? ?? ??? ??? ???? ????. 5. Speed and bandwidth : serial? ?????? ??? ??? ?? ??? ???? ??? ????. http://wiki.ros.org/rosserial/Overview/Limitations
- 32. OpenCR's Challenge - rosserial ??? ?? =8Bit ??? MCU / Serial (UART) - OpenCR? 32Bit ??? MCU??? ?? ????? ???? ??? ? ???, serial? ?? USB Stack ? Ethernet Stack ? ???? ??? ???? ?? ?? ??? ??? ? ?? ??? ????. - ? ??? ???? ?? OpenCR? ¡°Open-source Control module for ROS¡±?? ??? ? ?? ???? ????.
- 33. OpenCR with OROCA 2016? ??? ???? OpenCR ??? @iMachine?, @BlueSky7?, @Baram?, @???? ???????. 2017? ??? ???? OpenCR ?? ?????.